CN105045210A - Smooth interpolation method for CNC (Computer Numerical Control) equipment self-adaptive control chord error - Google Patents
Smooth interpolation method for CNC (Computer Numerical Control) equipment self-adaptive control chord error Download PDFInfo
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- CN105045210A CN105045210A CN201510407089.8A CN201510407089A CN105045210A CN 105045210 A CN105045210 A CN 105045210A CN 201510407089 A CN201510407089 A CN 201510407089A CN 105045210 A CN105045210 A CN 105045210A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34083—Interpolation general
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34167—Coarse fine, macro microinterpolation, preprocessor
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Abstract
A smooth interpolation method for a CNC (Computer Numerical Control) equipment self-adaptive control chord error comprises the following steps of setting or reading a maximum chord error [epsilon] of a cutter path movement instruction of CNC equipment; continuously inputting a plurality of segments of cutter path movement instructions to an interpolator until the tool path movement speed is reduced to zero; performing speed planning with a prospect planning control module, wherein the starting point speed and the terminal point speed of the segment of a path are both zero, and no point with a zero speed exists in the midway; performing statistical analysis of the minimal curvature radius, the movement speed of each connection point and corresponding movement direction deflection angels of the path, calculating the maximum smooth period number n, and subjecting the maximum smooth period number n to the smooth interpolation, so that the chord error between an obtained track and an original track is enabled to be not larger than [epsilon]; and performing smooth interpolation, subjecting a plurality of continuous points obtained after interpolation to arithmetic mean or weighted mean to obtain new interpolation points, so as to reduce or eliminated sudden change in movement. The cutter path subjected to the mentioned algorithm is round and smooth, and the obvious effect is achieved in some processing fields.
Description
Technical field
The present invention relates to CNC digital control system solution.
Background technology
Pahtfinder hard is resolved into a series of small route segment (as straight-line segment or arc section) by the requirement of machining precision by the post processor of usual CAM system, then carries out interpolation operation by each relevant interpolator in digital control system to each specific small route segment.The quality of the cutter track file of CAM Software Create, directly has influence on quality and the speed of processing.Sometimes, due to the restriction of the aspects such as precision, the cutter track of CAM Software Create is also imperfect, such as excessive with real Processing Curve error of fitting, or the curve of otherwise smooth is dispersed as a series of micro-line segment, if still completely faithful to this cutter track processing, can not get high-quality effect sometimes on the contrary.
Way of the prior art is: adopt digital filtering technique, by the smoothing process of pulse exported.The shortcoming of prior art: 1, if based on to the smoothing process of pulse exported, be the equal of level and smooth to speed, is difficult to ensure the accurate of final position; 2, need an artificial setting smoothness period number, specifically establish how many difficulty to hold, and be difficult to take into account the processing of cutter track whole process.The former needs technician to have certain experience, but still needs repetition test to process to verify, time-consumingly take material.And the latter Ze Chang there will be the phenomenon of attending to one thing and lose sight of another, be difficult to accomplish that whole process is all just right.
Summary of the invention
In order to overcome the deficiency that prior art exists, the adaptive control of a kind of processing effect good CNC numerical control device is the object of the present invention is to provide to bend the level and smooth interpolating method of high level error.
For reaching above object, the invention provides the level and smooth interpolating method of a kind of CNC numerical control device adaptive control bow high level error, comprising the steps:
A) setting or read the most longbow high level error ε of cutter track movement instruction of CNC numerical control device;
B) some sections of cutter track movement instructions are inputted continuously to interpolator, until the necessary reduction of speed to 0 of cutter track movement velocity;
C) carry out speed planning by prediction planning control module, a spot speed in this section of path and terminal velocity are 0, and midway is without 0 fast point;
D) minimum profile curvature radius in statistical study this section of path, the movement velocity at each connecting points place and the direction of motion deflection angle of correspondence, calculate a maximum smoothness period number n accordingly, make it after level and smooth interpolation processing, the track of gained and the bow high level error of initial trace are not more than ε;
E) level and smooth interpolation, by interpolation some continuous print points out, through arithmetic mean or Weighted Average Algorithm, obtains new interpolated point, to alleviate or to eliminate motion sudden change.
Further improvement of the present invention is, in described step e), comprises the steps: further
F) initialization: be that initial point sets up coordinate system with current point, respectively with the input of vInput, vOutput representation theory, the actual position exported, and n theoretical input coordinate point vPosition [i] (i=0,1,, n-1), obviously they are zero point, and by the sequence number that index represents input point, be also initialized as 0;
G) level and smooth interpolation: for each interpolation cycle, will calculate the amount of exercise v that in this interpolation cycle, each axle needs:
Backup current output bit is put: vCurrent=vOutput;
Calculate the position of current input: vInput=vInput+v;
Upgrade storing coordinate: index=(index+1) modn, vPosition [index]=vInput;
Calculate new outgoing position: vOutput=(vPosition [0]+vPosition [1]+... + vPosition [n-1])/n;
Calculate the amount of exercise of each control axle needs and export: v=vOutput – vCurrent;
H) time delay terminates: when speed reduces to 0, because vOutput and vInput is possible and inconsistent, must make it to reach unanimity through several interpolation cycles again, determine whether to terminate: make v=vInput-vOutput, if v is enough little, then, after exporting v, whole level and smooth interpolation completes; Otherwise, make v equal 0, call above-mentioned steps g);
Further improvement of the present invention is, in described step b), the path position of described reduction of speed to 0 comprises and large corner or pause instruction or processed file tail detected.
Further improvement of the present invention is, described step h) in, the periodicity of time delay is not more than n.
The present invention is based on the level and smooth interpolation technique of position, namely after level and smooth interpolation terminates, can accurately ensure to be in assigned address; Avoid and manually arrange smoothness period number, adopt segmentation intellectual analysis to calculate appropriate smoothness period number, the bow high level error making it to produce is not more than the most longbow high level error of setting just, and adaptive ability is strengthened greatly.The experiment proved that, the cutter track after this algorithm smoothing processing, more mellow and fuller smooth, for some manufacture field, as high light process, there is remarkable result.
Embodiment
Below preferred embodiment of the present invention is described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
CNC numerical control device cutter track corner smoothing processing method of the present invention, mainly comprises the steps:
1) setting or read: most longbow high level error ε;
2) continuously input some sections of movement instructions to interpolator, until must reduction of speed to 0 (large corner or pause instruction or processed file tail etc. such as being detected);
3) carry out speed planning by prediction planning control module, a spot speed of this section and terminal velocity are 0, and midway is without 0 fast point;
4) minimum profile curvature radius moved in this section of statistical study, the movement velocity at each connecting points place and the direction of motion deflection angle of correspondence, calculate a maximum smoothness period number n accordingly, make it (to refer to following steps) after level and smooth interpolation processing, the track of gained and the bow high level error of initial trace are not more than ε;
5) level and smooth interpolation, by interpolation some continuous print points out, through arithmetic mean or Weighted Average Algorithm (in order to principle of specification, only setting forth for the simplest arithmetic mean algorithm below), obtains new interpolated point, to alleviate or to eliminate motion sudden change;
A) initialization: be that initial point sets up coordinate system with current point, respectively with the input of vInput, vOutput representation theory, the actual position exported, and n theoretical input coordinate point vPosition [i] (i=0,1,, n-1), obviously they are zero point; And by the sequence number that index represents input point, be also initialized as 0;
B) level and smooth interpolation: for each interpolation cycle, will calculate the amount of exercise v that in this interpolation cycle, each axle needs;
I. back up current output bit to put: vCurrent=vOutput;
Ii. the position of current input is calculated: vInput=vInput+v;
Iii. storing coordinate is upgraded: index=(index+1) modn, vPosition [index]=vInput;
Iv. new outgoing position is calculated: vOutput=(vPosition [0]+vPosition [1]+... + vPosition [n-1])/n;
V. calculate the amount of exercise of each axle needs and export: v=vOutput – vCurrent;
C) time delay terminates: when speed reduces to 0, because of vOutput and vInput may and inconsistent, must again through several interpolation cycles make it to reach unanimity (provable, the periodicity of time delay is not more than n),
I. determine whether to terminate: make v=vInput-vOutput, if v is enough little, then, after exporting v, whole level and smooth interpolation completes;
Ii. otherwise, make v equal 0, call above-mentioned steps b).
Another alternative scheme is, original cutter track is first carried out fitting to Nurbs curve, and then carries out Nurbs interpolation.But the matching of Nurbs and interpolation, calculated amount is all very large, needs the software restraint cost of input all very high.
Very beautiful, through strictly proving, the interpolation smooth track that this method obtains is just in time Nurbs curve! Embody the effect of fairing everywhere, there is play the same tune on different musical instruments wonderful, but implement much easier, and the requirement that real-time online calculates can be met.
It is pointed out that core concept of the present invention be embodied in following some:
1) based on adjacent theoretical position (but not speed), calculate;
2) smoothing processing algorithm, can adopt arithmetic mean, or weighted mean;
3) according to smoothing processing algorithm, and combine the cutter track that look-ahead velocity plans, automatically calculate rational smoothness period number;
4) what smoothing processing time delay terminated is masked as, theoretical outgoing position and actual outgoing position enough close, their difference is exported and stops smoothing processing, can strict guarantee final position accurate.
Due to location-based level and smooth interpolation technique, namely after level and smooth interpolation terminates, can accurately ensure to be in assigned address; Avoid and manually arrange smoothness period number, adopt segmentation intellectual analysis to calculate appropriate smoothness period number, the bow high level error making it to produce is not more than the most longbow high level error of setting just, and adaptive ability is strengthened greatly.The experiment proved that, the cutter track after this algorithm smoothing processing, more mellow and fuller smooth, for some manufacture field, as high light process, there is remarkable result.
The remarkable result of this programme be embodied in following some:
1) the interpolation effect of fairing everywhere can be obtained;
2) impact of direction of motion sudden change when adjacent processing sections is connected is reduced, protection workpiece and process equipment;
3) due to the most longbow high level error according to setting, automatic analysis calculates the smoothness period number of each section, and ensures that the bow high level error of the track before and after level and smooth is less than or equal to setting value;
4) the smoothness period number of this algorithm is that automatic analysis calculating obtains, and has certain intelligent and adaptivity.
Above embodiment is only for illustrating technical conceive of the present invention and feature; its object is to allow person skilled in the art understand content of the present invention and to be implemented; can not limit the scope of the invention with this, all equivalences done according to Spirit Essence of the present invention change or modification is all encompassed in protection scope of the present invention.
Claims (4)
1. a level and smooth interpolating method for CNC numerical control device adaptive control bow high level error, is characterized in that, comprise the steps:
A) setting or read the most longbow high level error ε of cutter track movement instruction of CNC numerical control device;
B) some sections of cutter track movement instructions are inputted continuously to interpolator, until the necessary reduction of speed to 0 of cutter track movement velocity;
C) carry out speed planning by prediction planning control module, a spot speed in this section of path and terminal velocity are 0, and midway is without 0 fast point;
D) minimum profile curvature radius in statistical study this section of path, the movement velocity at each connecting points place and the direction of motion deflection angle of correspondence, calculate a maximum smoothness period number n accordingly, make it after level and smooth interpolation processing, the track of gained and the bow high level error of initial trace are not more than ε;
E) level and smooth interpolation, by interpolation some continuous print points out, through arithmetic mean or Weighted Average Algorithm, obtains new interpolated point, to alleviate or to eliminate motion sudden change.
2. the level and smooth interpolating method of CNC numerical control device adaptive control bow high level error according to claim 1, is characterized in that: in described step e), comprise the steps: further
F) initialization: be that initial point sets up coordinate system with current point, respectively with the input of vInput, vOutput representation theory, the actual position exported, and n theoretical input coordinate point vPosition [i] (i=0,1,, n-1), obviously they are zero point, and by the sequence number that index represents input point, be also initialized as 0;
G) level and smooth interpolation: for each interpolation cycle, will calculate the amount of exercise v that in this interpolation cycle, each axle needs:
Backup current output bit is put: vCurrent=vOutput;
Calculate the position of current input: vInput=vInput+v;
Upgrade storing coordinate: index=(index+1) modn, vPosition [index]=vInput;
Calculate new outgoing position: vOutput=(vPosition [0]+vPosition [1]+... + vPosition [n-1])/n;
Calculate the amount of exercise of each control axle needs and export: v=vOutput – vCurrent;
H) time delay terminates: when speed reduces to 0, because vOutput and vInput is possible and inconsistent, must make it to reach unanimity through several interpolation cycles again, determine whether to terminate: make v=vInput-vOutput, if v is enough little, then, after exporting v, whole level and smooth interpolation completes; Otherwise, make v equal 0, call above-mentioned steps g).
3. the level and smooth interpolating method of CNC numerical control device adaptive control bow high level error according to claim 1, it is characterized in that: in described step b), the path position of described reduction of speed to 0 comprises and large corner or pause instruction or processed file tail detected.
4. the level and smooth interpolating method of CNC numerical control device adaptive control bow high level error according to claim 2, is characterized in that: described step h) in, the periodicity of time delay is not more than n.
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Cited By (7)
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| CN106826829A (en) * | 2017-02-22 | 2017-06-13 | 武汉工程大学 | A kind of industrial robot fairing trace generator method of Controllable Error |
| CN107422648A (en) * | 2017-08-14 | 2017-12-01 | 哈尔滨理工大学 | A kind of free form surface ball-end milling hardened steel mold process integrated optimization method |
| CN111381555A (en) * | 2018-12-28 | 2020-07-07 | 合肥宏晶微电子科技股份有限公司 | Multi-axis motion control method and multi-axis motion equipment |
| CN111630461A (en) * | 2018-12-21 | 2020-09-04 | 深圳配天智能技术研究院有限公司 | Numerical control machining method and system and device with storage function |
| CN112327757A (en) * | 2020-11-19 | 2021-02-05 | 清华大学 | Intelligent optimization method and device for acceleration and deceleration of numerical control machine tool by using online measurement |
| CN113467378A (en) * | 2021-07-15 | 2021-10-01 | 苏州谋迅智能科技有限公司 | CNC time axis alignment method |
| CN116587290A (en) * | 2023-07-17 | 2023-08-15 | 广州多浦乐电子科技股份有限公司 | Method for generating scanning track of ultrasonic nondestructive testing of workpiece and detection method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826829A (en) * | 2017-02-22 | 2017-06-13 | 武汉工程大学 | A kind of industrial robot fairing trace generator method of Controllable Error |
| CN107422648A (en) * | 2017-08-14 | 2017-12-01 | 哈尔滨理工大学 | A kind of free form surface ball-end milling hardened steel mold process integrated optimization method |
| CN111630461A (en) * | 2018-12-21 | 2020-09-04 | 深圳配天智能技术研究院有限公司 | Numerical control machining method and system and device with storage function |
| CN111630461B (en) * | 2018-12-21 | 2022-07-12 | 深圳配天智能技术研究院有限公司 | Numerical control machining method and system and device with storage function |
| CN111381555A (en) * | 2018-12-28 | 2020-07-07 | 合肥宏晶微电子科技股份有限公司 | Multi-axis motion control method and multi-axis motion equipment |
| CN111381555B (en) * | 2018-12-28 | 2021-08-03 | 合肥宏晶微电子科技股份有限公司 | Multi-axis motion control method and multi-axis motion equipment |
| CN112327757A (en) * | 2020-11-19 | 2021-02-05 | 清华大学 | Intelligent optimization method and device for acceleration and deceleration of numerical control machine tool by using online measurement |
| CN113467378A (en) * | 2021-07-15 | 2021-10-01 | 苏州谋迅智能科技有限公司 | CNC time axis alignment method |
| CN113467378B (en) * | 2021-07-15 | 2024-03-29 | 苏州谋迅智能科技有限公司 | CNC time axis alignment method |
| CN116587290A (en) * | 2023-07-17 | 2023-08-15 | 广州多浦乐电子科技股份有限公司 | Method for generating scanning track of ultrasonic nondestructive testing of workpiece and detection method |
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